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Remove attitude setpoint matrix from attitude setpoint topic

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Lorenz Meier
2016-10-19 10:17:41 +02:00
committed by Lorenz Meier
parent 5317d29ffd
commit a12780c88f
8 changed files with 47 additions and 58 deletions
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src/modules/mavlink/mavlink_messages.cpp
+5 -1
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@@ -2584,7 +2584,11 @@ protected:
mavlink_attitude_target_t msg{};
msg.time_boot_ms = att_sp.timestamp / 1000;
mavlink_euler_to_quaternion(att_sp.roll_body, att_sp.pitch_body, att_sp.yaw_body, msg.q);
if (att_sp.q_d_valid) {
memcpy(&msg.q[0], &att_sp.q_d[0], sizeof(msg.q));
} else {
mavlink_euler_to_quaternion(att_sp.roll_body, att_sp.pitch_body, att_sp.yaw_body, msg.q);
}
msg.body_roll_rate = att_rates_sp.roll;
msg.body_pitch_rate = att_rates_sp.pitch;